void CV_PyrSegmentationTest::run( int /*start_from*/ )
{
const int level = 5;
const double range = 20;
int code = CvTS::OK;
CvPoint _cp[] ={{33,33}, {43,33}, {43,43}, {33,43}};
CvPoint _cp2[] ={{50,50}, {70,50}, {70,70}, {50,70}};
CvPoint* cp = _cp;
CvPoint* cp2 = _cp2;
CvConnectedComp *dst_comp[3];
CvRect rect[3] = {{50,50,21,21}, {0,0,128,128}, {33,33,11,11}};
double a[3] = {441.0, 15822.0, 121.0};
/* ippiPoint cp3[] ={130,130, 150,130, 150,150, 130,150}; */
/* CvPoint cp[] ={0,0, 5,5, 5,0, 10,5, 10,0, 15,5, 15,0}; */
int nPoints = 4;
int block_size = 1000;
CvMemStorage *storage; /* storage for connected component writing */
CvSeq *comp;
CvRNG* rng = ts->get_rng();
int i, j, iter;
IplImage *image, *image_f, *image_s;
CvSize size = {128, 128};
const int threshold1 = 50, threshold2 = 50;
rect[1].width = size.width;
rect[1].height = size.height;
a[1] = size.width*size.height - a[0] - a[2];
OPENCV_CALL( storage = cvCreateMemStorage( block_size ) );
for( iter = 0; iter < 2; iter++ )
{
int channels = iter == 0 ? 1 : 3;
int mask[] = {0,0,0};
image = cvCreateImage(size, 8, channels );
image_s = cvCloneImage( image );
image_f = cvCloneImage( image );
if( channels == 1 )
{
int color1 = 30, color2 = 110, color3 = 180;
cvSet( image, cvScalarAll(color1));
cvFillPoly( image, &cp, &nPoints, 1, cvScalar(color2));
cvFillPoly( image, &cp2, &nPoints, 1, cvScalar(color3));
}
else
{
CvScalar color1 = CV_RGB(30,30,30), color2 = CV_RGB(255,0,0), color3 = CV_RGB(0,255,0);
assert( channels == 3 );
cvSet( image, color1 );
cvFillPoly( image, &cp, &nPoints, 1, color2);
cvFillPoly( image, &cp2, &nPoints, 1, color3);
}
cvRandArr( rng, image_f, CV_RAND_UNI, cvScalarAll(0), cvScalarAll(range*2) );
cvAddWeighted( image, 1, image_f, 1, -range, image_f );
cvPyrSegmentation( image_f, image_s,
storage, &comp,
level, threshold1, threshold2 );
if(comp->total != 3)
{
ts->printf( CvTS::LOG,
"The segmentation function returned %d (not 3) components\n", comp->total );
code = CvTS::FAIL_INVALID_OUTPUT;
goto _exit_;
}
/* read the connected components */
dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );
/*{
for( i = 0; i < 3; i++ )
{
CvRect r = dst_comp[i]->rect;
cvRectangle( image_s, cvPoint(r.x,r.y), cvPoint(r.x+r.width,r.y+r.height),
CV_RGB(255,255,255), 3, 8, 0 );
}
cvNamedWindow( "test", 1 );
cvShowImage( "test", image_s );
cvWaitKey(0);
}*/
code = cvTsCmpEps2( ts, image, image_s, 10, false, "the output image" );
if( code < 0 )
goto _exit_;
for( i = 0; i < 3; i++)
{
for( j = 0; j < 3; j++ )
{
if( !mask[j] && dst_comp[i]->area == a[j] &&
dst_comp[i]->rect.x == rect[j].x &&
dst_comp[i]->rect.y == rect[j].y &&
dst_comp[i]->rect.width == rect[j].width &&
dst_comp[i]->rect.height == rect[j].height )
{
mask[j] = 1;
break;
}
}
if( j == 3 )
{
ts->printf( CvTS::LOG, "The component #%d is incorrect\n", i );
code = CvTS::FAIL_BAD_ACCURACY;
goto _exit_;
}
}
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
}
_exit_:
cvReleaseMemStorage( &storage );
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
if( code < 0 )
ts->set_failed_test_info( code );
}
/* ///////////////////// chess_corner_test ///////////////////////// */
void CV_ChessboardDetectorTimingTest::run( int start_from )
{
int code = cvtest::TS::OK;
/* test parameters */
std::string filepath;
std::string filename;
CvMat* _v = 0;
CvPoint2D32f* v;
IplImage img;
IplImage* gray = 0;
IplImage* thresh = 0;
int idx, max_idx;
int progress = 0;
filepath = cv::format("%scv/cameracalibration/", ts->get_data_path().c_str() );
filename = cv::format("%schessboard_timing_list.dat", filepath.c_str() );
CvFileStorage* fs = cvOpenFileStorage( filename.c_str(), 0, CV_STORAGE_READ );
CvFileNode* board_list = fs ? cvGetFileNodeByName( fs, 0, "boards" ) : 0;
if( !fs || !board_list || !CV_NODE_IS_SEQ(board_list->tag) ||
board_list->data.seq->total % 4 != 0 )
{
ts->printf( cvtest::TS::LOG, "chessboard_timing_list.dat can not be readed or is not valid" );
code = cvtest::TS::FAIL_MISSING_TEST_DATA;
goto _exit_;
}
max_idx = board_list->data.seq->total/4;
for( idx = start_from; idx < max_idx; idx++ )
{
int count0 = -1;
int count = 0;
CvSize pattern_size;
int result, result1 = 0;
const char* imgname = cvReadString((CvFileNode*)cvGetSeqElem(board_list->data.seq,idx*4), "dummy.txt");
int is_chessboard = cvReadInt((CvFileNode*)cvGetSeqElem(board_list->data.seq,idx*4+1), 0);
pattern_size.width = cvReadInt((CvFileNode*)cvGetSeqElem(board_list->data.seq,idx*4 + 2), -1);
pattern_size.height = cvReadInt((CvFileNode*)cvGetSeqElem(board_list->data.seq,idx*4 + 3), -1);
ts->update_context( this, idx-1, true );
/* read the image */
filename = cv::format("%s%s", filepath.c_str(), imgname );
cv::Mat img2 = cv::imread( filename );
img = img2;
if( img2.empty() )
{
ts->printf( cvtest::TS::LOG, "one of chessboard images can't be read: %s\n", filename.c_str() );
code = cvtest::TS::FAIL_MISSING_TEST_DATA;
continue;
}
ts->printf(cvtest::TS::LOG, "%s: chessboard %d:\n", imgname, is_chessboard);
gray = cvCreateImage( cvSize( img.width, img.height ), IPL_DEPTH_8U, 1 );
thresh = cvCreateImage( cvSize( img.width, img.height ), IPL_DEPTH_8U, 1 );
cvCvtColor( &img, gray, CV_BGR2GRAY );
count0 = pattern_size.width*pattern_size.height;
/* allocate additional buffers */
_v = cvCreateMat(1, count0, CV_32FC2);
count = count0;
v = (CvPoint2D32f*)_v->data.fl;
int64 _time0 = cvGetTickCount();
result = cvCheckChessboard(gray, pattern_size);
int64 _time01 = cvGetTickCount();
OPENCV_CALL( result1 = cvFindChessboardCorners(
gray, pattern_size, v, &count, 15 ));
int64 _time1 = cvGetTickCount();
if( result != is_chessboard )
{
ts->printf( cvtest::TS::LOG, "Error: chessboard was %sdetected in the image %s\n",
result ? "" : "not ", imgname );
code = cvtest::TS::FAIL_INVALID_OUTPUT;
goto _exit_;
}
if(result != result1)
{
ts->printf( cvtest::TS::LOG, "Warning: results differ cvCheckChessboard %d, cvFindChessboardCorners %d\n",
result, result1);
}
int num_pixels = gray->width*gray->height;
float check_chessboard_time = float(_time01 - _time0)/(float)cvGetTickFrequency(); // in us
ts->printf(cvtest::TS::LOG, " cvCheckChessboard time s: %f, us per pixel: %f\n",
check_chessboard_time*1e-6, check_chessboard_time/num_pixels);
float find_chessboard_time = float(_time1 - _time01)/(float)cvGetTickFrequency();
ts->printf(cvtest::TS::LOG, " cvFindChessboard time s: %f, us per pixel: %f\n",
find_chessboard_time*1e-6, find_chessboard_time/num_pixels);
cvReleaseMat( &_v );
cvReleaseImage( &gray );
cvReleaseImage( &thresh );
progress = update_progress( progress, idx-1, max_idx, 0 );
}
_exit_:
/* release occupied memory */
cvReleaseMat( &_v );
cvReleaseFileStorage( &fs );
cvReleaseImage( &gray );
cvReleaseImage( &thresh );
if( code < 0 )
ts->set_failed_test_info( code );
}
static int aGestureRecognition(void)
{
IplImage *image, *imagew, *image_rez, *mask_rez, *image_hsv, *img_p[2],*img_v,
*init_mask_ver = 0, *final_mask_ver = 0;
CvPoint3D32f *pp, p;
CvPoint pt;
CvSize2D32f fsize;
CvPoint3D32f center, cf;
IplImage *image_mask, *image_maskw;
CvSize size;
CvHistogram *hist, *hist_mask;
int width, height;
int k_points, k_indexs;
int warpFlag, interpolate;
int hdim[2] = {20, 20};
double coeffs[3][3], rect[2][2], rez = 0, eps_rez = 2.5, rez_h;
float *thresh[2];
float hv[3];
float reps, aeps, ww;
float line[6], in[3][3], h[3][3];
float cx, cy, fx, fy;
static char num[4];
char *name_image;
char *name_range_image;
char *name_verify_data;
char *name_init_mask_very;
char *name_final_mask_very;
CvSeq *numbers;
CvSeq *points;
CvSeq *indexs;
CvMemStorage *storage;
CvRect hand_roi, hand_roi_trans;
int i,j, lsize, block_size = 1000, flag;
int code;
FILE *filin, *fil_ver;
/* read tests params */
code = TRS_OK;
/* define input information */
strcpy (num, "001");
lsize = strlen(data_path)+12;
name_verify_data = (char*)trsmAlloc(lsize);
name_range_image = (char*)trsmAlloc(lsize);
name_image = (char*)trsmAlloc(lsize);
name_init_mask_very = (char*)trsmAlloc(lsize);
name_final_mask_very = (char*)trsmAlloc(lsize);
/* define input range_image file path */
strcpy(name_range_image, data_path);
strcat(name_range_image, "rpts");
strcat(name_range_image, num);
strcat(name_range_image, ".txt");
/* define input image file path */
strcpy(name_image, data_path);
strcat(name_image, "real");
strcat(name_image, num);
strcat(name_image, ".bmp");
/* define verify data file path */
strcpy(name_verify_data, data_path);
strcat(name_verify_data, "very");
strcat(name_verify_data, num);
strcat(name_verify_data, ".txt");
/* define verify init mask file path */
strcpy(name_init_mask_very, data_path);
strcat(name_init_mask_very, "imas");
strcat(name_init_mask_very, num);
strcat(name_init_mask_very, ".bmp");
/* define verify final mask file path */
strcpy(name_final_mask_very, data_path);
strcat(name_final_mask_very, "fmas");
strcat(name_final_mask_very, num);
strcat(name_final_mask_very, ".bmp");
filin = fopen(name_range_image,"r");
fil_ver = fopen(name_verify_data,"r");
fscanf( filin, "\n%d %d\n", &width, &height);
printf("width=%d height=%d reading testing data...", width,height);
OPENCV_CALL( storage = cvCreateMemStorage ( block_size ) );
OPENCV_CALL( points = cvCreateSeq( CV_SEQ_POINT3D_SET, sizeof(CvSeq),
sizeof(CvPoint3D32f), storage ) );
OPENCV_CALL (indexs = cvCreateSeq( CV_SEQ_POINT_SET, sizeof(CvSeq),
sizeof(CvPoint), storage ) );
pp = 0;
/* read input image from file */
image = atsCreateImageFromFile( name_image );
if(image == NULL) {code = TRS_FAIL; goto m_exit;}
/* read input 3D points from input file */
for (i = 0; i < height; i++)
{
for (j = 0; j < width; j++)
{
fscanf( filin, "%f %f %f\n", &p.x, &p.y, &p.z);
if(/*p.x != 0 || p.y != 0 ||*/ p.z != 0)
{
OPENCV_CALL(cvSeqPush(points, &p));
pt.x = j; pt.y = i;
OPENCV_CALL(cvSeqPush(indexs, &pt));
}
}
}
k_points = points->total;
k_indexs = indexs->total;
/* convert sequence to array */
pp = (CvPoint3D32f*)trsmAlloc(k_points * sizeof(CvPoint3D32f));
OPENCV_CALL(cvCvtSeqToArray(points, pp ));
/* find 3D-line */
reps = (float)0.1;
aeps = (float)0.1;
ww = (float)0.08;
OPENCV_CALL( cvFitLine3D(pp, k_points, CV_DIST_WELSCH, &ww, reps, aeps, line ));
/* find hand location */
flag = -1;
fsize.width = fsize.height = (float)0.22; // (hand size in m)
numbers = NULL;
OPENCV_CALL( cvFindHandRegion (pp, k_points, indexs,line, fsize,
flag,¢er,storage, &numbers));
/* read verify data */
fscanf( fil_ver, "%f %f %f\n", &cf.x, &cf.y, &cf.z);
rez+= cvSqrt((center.x - cf.x)*(center.x - cf.x)+(center.y - cf.y)*(center.y - cf.y)+
(center.z - cf.z)*(center.z - cf.z))/3.;
/* create hand mask */
size.height = height;
size.width = width;
OPENCV_CALL( image_mask = cvCreateImage(size, IPL_DEPTH_8U, 1) );
OPENCV_CALL( cvCreateHandMask(numbers, image_mask, &hand_roi) );
/* read verify initial image mask */
init_mask_ver = atsCreateImageFromFile( name_init_mask_very );
if(init_mask_ver == NULL) {code = TRS_FAIL; goto m_exit;}
rez+= iplNorm(init_mask_ver, image_mask, IPL_L2) / (width*height+0.);
/* calculate homographic transformation matrix */
cx = (float)(width / 2.);
cy = (float)(height / 2.);
fx = fy = (float)571.2048;
/* define intrinsic camera parameters */
in[0][1] = in[1][0] = in[2][0] = in[2][1] = 0;
in[0][0] = fx; in[0][2] = cx;
in[1][1] = fy; in[1][2] = cy;
in[2][2] = 1;
OPENCV_CALL( cvCalcImageHomography(line, ¢er, in, h) );
rez_h = 0;
for(i=0;i<3;i++)
{
fscanf( fil_ver, "%f %f %f\n", &hv[0], &hv[1], &hv[2]);
for(j=0;j<3;j++)
{
rez_h+=(hv[j] - h[i][j])*(hv[j] - h[i][j]);
}
}
rez+=sqrt(rez_h)/9.;
/* image unwarping */
size.width = image->width;
size.height = image->height;
OPENCV_CALL( imagew = cvCreateImage(size, IPL_DEPTH_8U,3) );
OPENCV_CALL( image_maskw = cvCreateImage(size, IPL_DEPTH_8U,1) );
iplSet(image_maskw, 0);
cvSetImageROI(image, hand_roi);
cvSetImageROI(image_mask, hand_roi);
/* convert homographic transformation matrix from float to double */
for(i=0;i<3;i++)
for(j=0;j<3;j++)
coeffs[i][j] = (double)h[i][j];
/* get bounding rectangle for image ROI */
iplGetPerspectiveBound(image, coeffs, rect);
width = (int)(rect[1][0] - rect[0][0]);
height = (int)(rect[1][1] - rect[0][1]);
hand_roi_trans.x = (int)rect[0][0];hand_roi_trans.y = (int)rect[0][1];
hand_roi_trans.width = width; hand_roi_trans.height = height;
cvMaxRect(&hand_roi, &hand_roi_trans, &hand_roi);
iplSetROI((IplROI*)image->roi, 0, hand_roi.x, hand_roi.y,
hand_roi.width,hand_roi.height);
iplSetROI((IplROI*)image_mask->roi, 0, hand_roi.x, hand_roi.y,
hand_roi.width,hand_roi.height);
warpFlag = IPL_WARP_R_TO_Q;
/* interpolate = IPL_INTER_CUBIC; */
/* interpolate = IPL_INTER_NN; */
interpolate = IPL_INTER_LINEAR;
iplWarpPerspective(image, imagew, coeffs, warpFlag, interpolate);
iplWarpPerspective(image_mask, image_maskw, coeffs, warpFlag, IPL_INTER_NN);
/* set new image and mask ROI after transformation */
iplSetROI((IplROI*)imagew->roi,0, (int)rect[0][0], (int)rect[0][1],(int)width,(int)height);
iplSetROI((IplROI*)image_maskw->roi,0, (int)rect[0][0], (int)rect[0][1],(int)width,(int)height);
/* copy image ROI to new image and resize */
size.width = width; size.height = height;
image_rez = cvCreateImage(size, IPL_DEPTH_8U,3);
mask_rez = cvCreateImage(size, IPL_DEPTH_8U,1);
iplCopy(imagew,image_rez);
iplCopy(image_maskw,mask_rez);
/* convert rezult image from RGB to HSV */
image_hsv = iplCreateImageHeader(3, 0, IPL_DEPTH_8U, "HSV", "HSV",
IPL_DATA_ORDER_PIXEL, IPL_ORIGIN_TL,IPL_ALIGN_DWORD,
image_rez->width, image_rez->height, NULL, NULL, NULL, NULL);
iplAllocateImage(image_hsv, 0, 0 );
strcpy(image_rez->colorModel, "RGB");
strcpy(image_rez->channelSeq, "RGB");
image_rez->roi = NULL;
iplRGB2HSV(image_rez, image_hsv);
/* convert to three images planes */
img_p[0] = cvCreateImage(size, IPL_DEPTH_8U,1);
img_p[1] = cvCreateImage(size, IPL_DEPTH_8U,1);
img_v = cvCreateImage(size, IPL_DEPTH_8U,1);
cvCvtPixToPlane(image_hsv, img_p[0], img_p[1], img_v, NULL);
/* calculate histograms */
hist = cvCreateHist ( 2, hdim, CV_HIST_ARRAY);
hist_mask = cvCreateHist ( 2, hdim, CV_HIST_ARRAY);
/* install histogram threshold */
thresh[0] = (float*) trsmAlloc(2*sizeof(float));
thresh[1] = (float*) trsmAlloc(2*sizeof(float));
thresh[0][0] = thresh[1][0] = -0.5;
thresh[0][1] = thresh[1][1] = 255.5;
cvSetHistThresh( hist, thresh, 1);
cvSetHistThresh( hist_mask, thresh, 1);
cvCalcHist(img_p, hist, 0);
cvCalcHistMask(img_p, mask_rez, hist_mask, 0);
cvCalcProbDensity(hist, hist_mask, hist_mask);
cvCalcBackProject( img_p, mask_rez, hist_mask );
/* read verify final image mask */
final_mask_ver = atsCreateImageFromFile( name_final_mask_very );
if(final_mask_ver == NULL) {code = TRS_FAIL; goto m_exit;}
rez+= iplNorm(final_mask_ver, mask_rez, IPL_L2) / (width*height+0.);
trsWrite( ATS_CON | ATS_SUM, "\n gesture recognition \n");
trsWrite( ATS_CON | ATS_SUM, "result testing error = %f \n",rez);
if(rez > eps_rez) code = TRS_FAIL;
else code = TRS_OK;
m_exit:
cvReleaseImage(&image_mask);
cvReleaseImage(&mask_rez);
cvReleaseImage(&image_rez);
atsReleaseImage(final_mask_ver);
atsReleaseImage(init_mask_ver);
cvReleaseImage(&imagew);
cvReleaseImage(&image_maskw);
cvReleaseImage(&img_p[0]);
cvReleaseImage(&img_p[1]);
cvReleaseImage(&img_v);
cvReleaseHist( &hist);
cvReleaseHist( &hist_mask);
cvReleaseMemStorage ( &storage );
trsFree(pp);
trsFree(name_final_mask_very);
trsFree(name_init_mask_very);
trsFree(name_image);
trsFree(name_range_image);
trsFree(name_verify_data);
fclose(filin);
fclose(fil_ver);
/* _getch(); */
return code;
}
static int aPyrSegmentation(void* agr)
{
CvPoint _cp[] ={33,33, 43,33, 43,43, 33,43};
CvPoint _cp2[] ={50,50, 70,50, 70,70, 50,70};
CvPoint* cp = _cp;
CvPoint* cp2 = _cp2;
CvConnectedComp *dst_comp[3];
CvRect rect[3] = {50,50,21,21, 0,0,128,128, 33,33,11,11};
double a[3] = {441.0, 15822.0, 121.0};
/* ippiPoint cp3[] ={130,130, 150,130, 150,150, 130,150}; */
/* CvPoint cp[] ={0,0, 5,5, 5,0, 10,5, 10,0, 15,5, 15,0}; */
int chanels = (int)agr; /* number of the color chanels */
int width = 128;
int height = 128;
int nPoints = 4;
int block_size = 1000;
int color1 = 30, color2 = 110, color3 = 180;
int level = 5;
long diff, l;
int code;
CvMemStorage *storage; /* storage for connected component writing */
CvSeq *comp;
double lower, upper;
unsigned seed;
char rand;
AtsRandState state;
int i,j;
IplImage *image, *image_f, *image_s;
CvSize size;
uchar *f_cur, *f_row;
uchar *row;
uchar *cur;
int threshold1, threshold2;
code = TRS_OK;
if(chanels != 1 && chanels != 3)
return TRS_UNDEF;
/* read tests params */
if(!trsiRead( &width, "128", "image width" ))
return TRS_UNDEF;
if(!trsiRead( &height, "128", "image height" ))
return TRS_UNDEF;
if(!trsiRead( &level, "5", "pyramid level" ))
return TRS_UNDEF;
/* create Image */
l = width*height;
size.width = width;
size.height = height;
rect[1].height = height;
rect[1].width = width;
a[1] = l - a[0] - a[2];
image = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
image_s = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
memset(image->imageData, color1, chanels*l);
image_f = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
OPENCV_CALL( storage = cvCreateMemStorage( block_size ) );
/* do noise */
upper = 20;
lower = -upper;
seed = 345753;
atsRandInit( &state, lower, upper, seed );
/* segmentation by pyramid */
threshold1 = 50;
threshold2 = 50;
switch(chanels)
{
case 1:
{
cvFillPoly( image, &cp, &nPoints, 1, color2);
cvFillPoly( image, &cp2, &nPoints, 1, color3);
row = (uchar*)image->imageData;
f_row = (uchar*)image_f->imageData;
for(i = 0; i<size.height; i++)
{
cur = row;
f_cur = f_row;
for(j = 0; j<size.width; j++)
{
atsbRand8s( &state, &rand, 1);
*(f_cur)=(uchar)((*cur) + rand);
cur++;
f_cur++;
}
row+=image->widthStep;
f_row+=image_f->widthStep;
}
cvPyrSegmentation( image_f, image_s,
storage, &comp,
level, threshold1, threshold2 );
//if(comp->total != 3) { code = TRS_FAIL; goto exit; }
/* read the connected components */
/*dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );*/
break;
}
case 3:
{
cvFillPoly( image, &cp, &nPoints, 1, CV_RGB(color2,color2,color2));
cvFillPoly( image, &cp2, &nPoints, 1, CV_RGB(color3,color3,color3));
row = (uchar*)image->imageData;
f_row = (uchar*)image_f->imageData;
for(i = 0; i<size.height; i++)
{
cur = row;
f_cur = f_row;
for(j = 0; j<size.width; j++)
{
atsbRand8s( &state, &rand, 1);
*(f_cur)=(uchar)((*cur) + rand);
atsbRand8s( &state, &rand, 1);
*(f_cur+1)=(uchar)(*(cur+1) + rand);
atsbRand8s( &state, &rand, 1);
*(f_cur+2)=(uchar)(*(cur+2) + rand);
cur+=3;
f_cur+=3;
}
row+=image->widthStep;
f_row+=image_f->widthStep;
}
cvPyrSegmentation(image_f, image_s, storage, &comp, level,
threshold1, threshold2);
/* read the connected components */
if(comp->total != 3) { code = TRS_FAIL; goto exit; }
dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );
break;
}
}
diff = 0;
/*diff = atsCompare1Db( (uchar*)image->imageData, (uchar*)image_s->imageData, chanels*l, 4);
for(i = 0; i < 3; i++)
{
if(dst_comp[i]->area != a[i]) diff++;
if(dst_comp[i]->rect.x != rect[i].x) diff++;
if(dst_comp[i]->rect.y != rect[i].y) diff++;
if(dst_comp[i]->rect.width != rect[i].width) diff++;
if(dst_comp[i]->rect.height != rect[i].height) diff++;
}*/
trsWrite( ATS_CON | ATS_LST | ATS_SUM, "upper =%f diff =%ld \n",upper, diff);
if(diff > 0 )
code = TRS_FAIL;
else
code = TRS_OK;
exit:
cvReleaseMemStorage( &storage );
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
/* trsFree(cp); */
/* _getch(); */
return code;
}
/* ///////////////////// chess_corner_test ///////////////////////// */
void CV_ChessboardDetectorTest::run( int start_from )
{
int code = CvTS::OK;
#ifndef WRITE_POINTS
const double rough_success_error_level = 2.5;
const double precise_success_error_level = 0.2;
double err = 0, max_rough_error = 0, max_precise_error = 0;
#endif
/* test parameters */
char filepath[1000];
char filename[1000];
CvMat* _u = 0;
CvMat* _v = 0;
CvPoint2D32f* u;
CvPoint2D32f* v;
IplImage* img = 0;
IplImage* gray = 0;
IplImage* thresh = 0;
int idx, max_idx;
int progress = 0;
sprintf( filepath, "%scameracalibration/", ts->get_data_path() );
sprintf( filename, "%schessboard_list.dat", filepath );
CvFileStorage* fs = cvOpenFileStorage( filename, 0, CV_STORAGE_READ );
CvFileNode* board_list = fs ? cvGetFileNodeByName( fs, 0, "boards" ) : 0;
if( !fs || !board_list || !CV_NODE_IS_SEQ(board_list->tag) ||
board_list->data.seq->total % 2 != 0 )
{
ts->printf( CvTS::LOG, "chessboard_list.dat can not be readed or is not valid" );
code = CvTS::FAIL_MISSING_TEST_DATA;
goto _exit_;
}
max_idx = board_list->data.seq->total/2;
for( idx = start_from; idx < max_idx; idx++ )
{
int etalon_count = -1;
int count = 0;
CvSize etalon_size = { -1, -1 };
int j, result;
ts->update_context( this, idx-1, true );
/* read the image */
sprintf( filename, "%s%s", filepath,
cvReadString((CvFileNode*)cvGetSeqElem(board_list->data.seq,idx*2),"dummy.txt"));
img = cvLoadImage( filename );
if( !img )
{
ts->printf( CvTS::LOG, "one of chessboard images can't be read: %s", filename );
if( max_idx == 1 )
{
code = CvTS::FAIL_MISSING_TEST_DATA;
goto _exit_;
}
continue;
}
gray = cvCreateImage( cvSize( img->width, img->height ), IPL_DEPTH_8U, 1 );
thresh = cvCreateImage( cvSize( img->width, img->height ), IPL_DEPTH_8U, 1 );
cvCvtColor( img, gray, CV_BGR2GRAY );
sprintf( filename, "%s%s", filepath,
cvReadString((CvFileNode*)cvGetSeqElem(board_list->data.seq,idx*2+1),"dummy.txt"));
_u = (CvMat*)cvLoad( filename );
if( _u == 0 )
{
if( idx == 0 )
ts->printf( CvTS::LOG, "one of chessboard corner files can't be read: %s", filename );
if( max_idx == 1 )
{
code = CvTS::FAIL_MISSING_TEST_DATA;
goto _exit_;
}
continue;
}
etalon_size.width = _u->cols;
etalon_size.height = _u->rows;
etalon_count = etalon_size.width*etalon_size.height;
/* allocate additional buffers */
_v = cvCloneMat( _u );
count = etalon_count;
u = (CvPoint2D32f*)_u->data.fl;
v = (CvPoint2D32f*)_v->data.fl;
OPENCV_CALL( result = cvFindChessBoardCornerGuesses(
gray, thresh, 0, etalon_size, v, &count ));
//show_points( gray, 0, etalon_count, v, count, etalon_size, result );
if( !result || count != etalon_count )
{
ts->printf( CvTS::LOG, "chess board is not found" );
code = CvTS::FAIL_INVALID_OUTPUT;
goto _exit_;
}
#ifndef WRITE_POINTS
err = 0;
for( j = 0; j < etalon_count; j++ )
{
double dx = fabs( v[j].x - u[j].x );
double dy = fabs( v[j].y - u[j].y );
dx = MAX( dx, dy );
if( dx > err )
{
err = dx;
if( err > rough_success_error_level )
{
ts->printf( CvTS::LOG, "bad accuracy of corner guesses" );
code = CvTS::FAIL_BAD_ACCURACY;
goto _exit_;
}
}
}
max_rough_error = MAX( max_rough_error, err );
#endif
OPENCV_CALL( cvFindCornerSubPix( gray, v, count, cvSize( 5, 5 ), cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_EPS|CV_TERMCRIT_ITER,30,0.1)));
//show_points( gray, u + 1, etalon_count, v, count );
#ifndef WRITE_POINTS
err = 0;
for( j = 0; j < etalon_count; j++ )
{
double dx = fabs( v[j].x - u[j].x );
double dy = fabs( v[j].y - u[j].y );
dx = MAX( dx, dy );
if( dx > err )
{
err = dx;
if( err > precise_success_error_level )
{
ts->printf( CvTS::LOG, "bad accuracy of adjusted corners" );
code = CvTS::FAIL_BAD_ACCURACY;
goto _exit_;
}
}
}
max_precise_error = MAX( max_precise_error, err );
#else
cvSave( filename, _v );
#endif
cvReleaseMat( &_u );
cvReleaseMat( &_v );
cvReleaseImage( &img );
cvReleaseImage( &gray );
cvReleaseImage( &thresh );
progress = update_progress( progress, idx-1, max_idx, 0 );
}
_exit_:
/* release occupied memory */
cvReleaseMat( &_u );
cvReleaseMat( &_v );
cvReleaseFileStorage( &fs );
cvReleaseImage( &img );
cvReleaseImage( &gray );
cvReleaseImage( &thresh );
if( code < 0 )
ts->set_failed_test_info( code );
}
